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<li class="navelem"><a class="el" href="../../d2/d75/namespacecv.html">cv</a></li><li class="navelem"><a class="el" href="../../d9/dfc/namespacecv_1_1kinfu.html">kinfu</a></li><li class="navelem"><a class="el" href="../../d9/d94/structcv_1_1kinfu_1_1VolumeParams.html">VolumeParams</a></li>  </ul>
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<p><code>#include &lt;opencv2/rgbd/volume.hpp&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr class="memitem:af2b8976540e40d72e27cb09355433139"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../d9/d94/structcv_1_1kinfu_1_1VolumeParams.html">VolumeParams</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d94/structcv_1_1kinfu_1_1VolumeParams.html#af2b8976540e40d72e27cb09355433139">coarseParams</a> (<a class="el" href="../../d9/dfc/namespacecv_1_1kinfu.html#a8d6bdd33dfc1b9c247ef0a41975109c2">VolumeType</a> _volumeType)</td></tr>
<tr class="memdesc:af2b8976540e40d72e27cb09355433139"><td class="mdescLeft">&#160;</td><td class="mdescRight">Coarse set of parameters that provides relatively higher performance at the cost of reconstrution quality.  <a href="#af2b8976540e40d72e27cb09355433139">More...</a><br /></td></tr>
<tr class="separator:af2b8976540e40d72e27cb09355433139"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aeb59c70b695f0c4014e27a47843098ce"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../d9/d94/structcv_1_1kinfu_1_1VolumeParams.html">VolumeParams</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d94/structcv_1_1kinfu_1_1VolumeParams.html#aeb59c70b695f0c4014e27a47843098ce">defaultParams</a> (<a class="el" href="../../d9/dfc/namespacecv_1_1kinfu.html#a8d6bdd33dfc1b9c247ef0a41975109c2">VolumeType</a> _volumeType)</td></tr>
<tr class="memdesc:aeb59c70b695f0c4014e27a47843098ce"><td class="mdescLeft">&#160;</td><td class="mdescRight">Default set of parameters that provide higher quality reconstruction at the cost of slow performance.  <a href="#aeb59c70b695f0c4014e27a47843098ce">More...</a><br /></td></tr>
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Public Attributes</h2></td></tr>
<tr class="memitem:a236a0d42404cbca4e05590cbeea8c622"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d94/structcv_1_1kinfu_1_1VolumeParams.html#a236a0d42404cbca4e05590cbeea8c622">depthTruncThreshold</a></td></tr>
<tr class="memdesc:a236a0d42404cbca4e05590cbeea8c622"><td class="mdescLeft">&#160;</td><td class="mdescRight">Threshold for depth truncation in meters Truncates the depth greater than threshold to 0.  <a href="#a236a0d42404cbca4e05590cbeea8c622">More...</a><br /></td></tr>
<tr class="separator:a236a0d42404cbca4e05590cbeea8c622"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad377fbc71190ba8c715f69dc3f64288f"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d94/structcv_1_1kinfu_1_1VolumeParams.html#ad377fbc71190ba8c715f69dc3f64288f">maxWeight</a></td></tr>
<tr class="memdesc:ad377fbc71190ba8c715f69dc3f64288f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Max number of frames to integrate per voxel Represents the max number of frames over which a running average of the TSDF is calculated for a voxel.  <a href="#ad377fbc71190ba8c715f69dc3f64288f">More...</a><br /></td></tr>
<tr class="separator:ad377fbc71190ba8c715f69dc3f64288f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a38d8e8f4d796726b55d3e3d2e0cc9188"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d0/de1/group__core.html#gae10a81cba3f3232648be48e28759a7bc">Affine3f</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d94/structcv_1_1kinfu_1_1VolumeParams.html#a38d8e8f4d796726b55d3e3d2e0cc9188">pose</a></td></tr>
<tr class="memdesc:a38d8e8f4d796726b55d3e3d2e0cc9188"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initial pose of the volume in meters.  <a href="#a38d8e8f4d796726b55d3e3d2e0cc9188">More...</a><br /></td></tr>
<tr class="separator:a38d8e8f4d796726b55d3e3d2e0cc9188"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac25cfa67ced3f16720e5713484ef4115"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d94/structcv_1_1kinfu_1_1VolumeParams.html#ac25cfa67ced3f16720e5713484ef4115">raycastStepFactor</a></td></tr>
<tr class="memdesc:ac25cfa67ced3f16720e5713484ef4115"><td class="mdescLeft">&#160;</td><td class="mdescRight">Length of single raycast step Describes the percentage of voxel length that is skipped per march.  <a href="#ac25cfa67ced3f16720e5713484ef4115">More...</a><br /></td></tr>
<tr class="separator:ac25cfa67ced3f16720e5713484ef4115"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:addc956726c2dd8160b32eb9e7dc3eb65"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../dc/d84/group__core__basic.html#ga55864bca2bbede9731df5baa0d1be763">Vec3i</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d94/structcv_1_1kinfu_1_1VolumeParams.html#addc956726c2dd8160b32eb9e7dc3eb65">resolution</a></td></tr>
<tr class="memdesc:addc956726c2dd8160b32eb9e7dc3eb65"><td class="mdescLeft">&#160;</td><td class="mdescRight">Resolution of voxel space Number of voxels in each dimension. Applicable only for TSDF <a class="el" href="../../d0/d4f/classcv_1_1kinfu_1_1Volume.html">Volume</a>. HashTSDF volume only supports equal resolution in all three dimensions.  <a href="#addc956726c2dd8160b32eb9e7dc3eb65">More...</a><br /></td></tr>
<tr class="separator:addc956726c2dd8160b32eb9e7dc3eb65"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ace0aecd4520c36c75e4a55ba76571d0a"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d94/structcv_1_1kinfu_1_1VolumeParams.html#ace0aecd4520c36c75e4a55ba76571d0a">tsdfTruncDist</a></td></tr>
<tr class="memdesc:ace0aecd4520c36c75e4a55ba76571d0a"><td class="mdescLeft">&#160;</td><td class="mdescRight">TSDF truncation distance Distances greater than value from surface will be truncated to 1.0.  <a href="#ace0aecd4520c36c75e4a55ba76571d0a">More...</a><br /></td></tr>
<tr class="separator:ace0aecd4520c36c75e4a55ba76571d0a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1343af60e6e12cd3b8991e6a41188574"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/dfc/namespacecv_1_1kinfu.html#a8d6bdd33dfc1b9c247ef0a41975109c2">VolumeType</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d94/structcv_1_1kinfu_1_1VolumeParams.html#a1343af60e6e12cd3b8991e6a41188574">type</a></td></tr>
<tr class="memdesc:a1343af60e6e12cd3b8991e6a41188574"><td class="mdescLeft">&#160;</td><td class="mdescRight">Type of <a class="el" href="../../d0/d4f/classcv_1_1kinfu_1_1Volume.html">Volume</a> Values can be TSDF (single volume) or HASHTSDF (hashtable of volume units)  <a href="#a1343af60e6e12cd3b8991e6a41188574">More...</a><br /></td></tr>
<tr class="separator:a1343af60e6e12cd3b8991e6a41188574"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a667a967b747bc89baca9a7f3853d3473"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d94/structcv_1_1kinfu_1_1VolumeParams.html#a667a967b747bc89baca9a7f3853d3473">unitResolution</a> = {0}</td></tr>
<tr class="memdesc:a667a967b747bc89baca9a7f3853d3473"><td class="mdescLeft">&#160;</td><td class="mdescRight">Resolution of volumeUnit in voxel space Number of voxels in each dimension for volumeUnit Applicable only for hashTSDF.  <a href="#a667a967b747bc89baca9a7f3853d3473">More...</a><br /></td></tr>
<tr class="separator:a667a967b747bc89baca9a7f3853d3473"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af5af8de44e6d600fd1a0a73ec0bcfafb"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d94/structcv_1_1kinfu_1_1VolumeParams.html#af5af8de44e6d600fd1a0a73ec0bcfafb">voxelSize</a></td></tr>
<tr class="memdesc:af5af8de44e6d600fd1a0a73ec0bcfafb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Length of voxels in meters.  <a href="#af5af8de44e6d600fd1a0a73ec0bcfafb">More...</a><br /></td></tr>
<tr class="separator:af5af8de44e6d600fd1a0a73ec0bcfafb"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<h2 class="groupheader">Member Function Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#af2b8976540e40d72e27cb09355433139">&#9670;&nbsp;</a></span>coarseParams()</h2>

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          <td class="memname">static <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt;<a class="el" href="../../d9/d94/structcv_1_1kinfu_1_1VolumeParams.html">VolumeParams</a>&gt; cv::kinfu::VolumeParams::coarseParams </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../d9/dfc/namespacecv_1_1kinfu.html#a8d6bdd33dfc1b9c247ef0a41975109c2">VolumeType</a>&#160;</td>
          <td class="paramname"><em>_volumeType</em></td><td>)</td>
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<p>Coarse set of parameters that provides relatively higher performance at the cost of reconstrution quality. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#aeb59c70b695f0c4014e27a47843098ce">&#9670;&nbsp;</a></span>defaultParams()</h2>

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          <td class="memname">static <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt;<a class="el" href="../../d9/d94/structcv_1_1kinfu_1_1VolumeParams.html">VolumeParams</a>&gt; cv::kinfu::VolumeParams::defaultParams </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../d9/dfc/namespacecv_1_1kinfu.html#a8d6bdd33dfc1b9c247ef0a41975109c2">VolumeType</a>&#160;</td>
          <td class="paramname"><em>_volumeType</em></td><td>)</td>
          <td></td>
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<p>Default set of parameters that provide higher quality reconstruction at the cost of slow performance. </p>

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<h2 class="groupheader">Member Data Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a236a0d42404cbca4e05590cbeea8c622">&#9670;&nbsp;</a></span>depthTruncThreshold</h2>

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          <td class="memname">float cv::kinfu::VolumeParams::depthTruncThreshold</td>
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<p>Threshold for depth truncation in meters Truncates the depth greater than threshold to 0. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#ad377fbc71190ba8c715f69dc3f64288f">&#9670;&nbsp;</a></span>maxWeight</h2>

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          <td class="memname">int cv::kinfu::VolumeParams::maxWeight</td>
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<p>Max number of frames to integrate per voxel Represents the max number of frames over which a running average of the TSDF is calculated for a voxel. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a38d8e8f4d796726b55d3e3d2e0cc9188">&#9670;&nbsp;</a></span>pose</h2>

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          <td class="memname"><a class="el" href="../../d0/de1/group__core.html#gae10a81cba3f3232648be48e28759a7bc">Affine3f</a> cv::kinfu::VolumeParams::pose</td>
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<p>Initial pose of the volume in meters. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#ac25cfa67ced3f16720e5713484ef4115">&#9670;&nbsp;</a></span>raycastStepFactor</h2>

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          <td class="memname">float cv::kinfu::VolumeParams::raycastStepFactor</td>
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<p>Length of single raycast step Describes the percentage of voxel length that is skipped per march. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#addc956726c2dd8160b32eb9e7dc3eb65">&#9670;&nbsp;</a></span>resolution</h2>

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          <td class="memname"><a class="el" href="../../dc/d84/group__core__basic.html#ga55864bca2bbede9731df5baa0d1be763">Vec3i</a> cv::kinfu::VolumeParams::resolution</td>
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<p>Resolution of voxel space Number of voxels in each dimension. Applicable only for TSDF <a class="el" href="../../d0/d4f/classcv_1_1kinfu_1_1Volume.html">Volume</a>. HashTSDF volume only supports equal resolution in all three dimensions. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#ace0aecd4520c36c75e4a55ba76571d0a">&#9670;&nbsp;</a></span>tsdfTruncDist</h2>

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          <td class="memname">float cv::kinfu::VolumeParams::tsdfTruncDist</td>
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<p>TSDF truncation distance Distances greater than value from surface will be truncated to 1.0. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a1343af60e6e12cd3b8991e6a41188574">&#9670;&nbsp;</a></span>type</h2>

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          <td class="memname"><a class="el" href="../../d9/dfc/namespacecv_1_1kinfu.html#a8d6bdd33dfc1b9c247ef0a41975109c2">VolumeType</a> cv::kinfu::VolumeParams::type</td>
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<p>Type of <a class="el" href="../../d0/d4f/classcv_1_1kinfu_1_1Volume.html">Volume</a> Values can be TSDF (single volume) or HASHTSDF (hashtable of volume units) </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a667a967b747bc89baca9a7f3853d3473">&#9670;&nbsp;</a></span>unitResolution</h2>

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          <td class="memname">int cv::kinfu::VolumeParams::unitResolution = {0}</td>
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<p>Resolution of volumeUnit in voxel space Number of voxels in each dimension for volumeUnit Applicable only for hashTSDF. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#af5af8de44e6d600fd1a0a73ec0bcfafb">&#9670;&nbsp;</a></span>voxelSize</h2>

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          <td class="memname">float cv::kinfu::VolumeParams::voxelSize</td>
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<p>Length of voxels in meters. </p>

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<hr/>The documentation for this struct was generated from the following file:<ul>
<li>opencv2/rgbd/<a class="el" href="../../d9/d6b/volume_8hpp.html">volume.hpp</a></li>
</ul>
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